Differential uniformity of permutation polynomials has been studied intensively in recent years due to the differential cryptanalysis of S-boxes. The boomerang attack is a variant of differential cryptanalysis which combines two differentials for the upper part and the lower part of the block cipher. The boomerang uniformity measures the resistance of block ciphers to the boomerang attack. In this paper, by using the resultant elimination method, we study the boomerang uniformity of normalized permutation polynomials of the low degree over finite fields. As a result, we determine the boomerang uniformity of all normalized permutation polynomials of degree up to six over the finite field $${\mathbb {F}}_{q}$$.